You can use ESP32 with GPS modules and their PPS signals. The PPS signal from the module often has has a roughly precision around 60ns against the global GPS standard.
With that signal you can PID-control an internal timer of the ESP32 - which then can be used to timestamp audio frames. Send that to a central host over Wifi and you can use your standard localization math.
The trick is to use the internal ESP32 10MHz hardware which automatically kicks timestamps into a register if a GPIO does something. Not using high-level C constructs that must eat their way through x API layers.
You can use ESP32 with GPS modules and their PPS signals. The PPS signal from the module often has has a roughly precision around 60ns against the global GPS standard.
With that signal you can PID-control an internal timer of the ESP32 - which then can be used to timestamp audio frames. Send that to a central host over Wifi and you can use your standard localization math.
The trick is to use the internal ESP32 10MHz hardware which automatically kicks timestamps into a register if a GPIO does something. Not using high-level C constructs that must eat their way through x API layers.
This costs like 20€.